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<div class="title">sparse_block_matrix_diagonal.h</div>  </div>
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<a href="sparse__block__matrix__diagonal_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#ifndef G2O_SPARSE_BLOCK_MATRIX_DIAGONAL_H</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#define G2O_SPARSE_BLOCK_MATRIX_DIAGONAL_H</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#include &lt;eigen3/Eigen/Core&gt;</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#include &lt;eigen3/Eigen/StdVector&gt;</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#include &quot;../../config.h&quot;</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="matrix__operations_8h.html">matrix_operations.h</a>&quot;</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceg2o.html">g2o</a> {</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">class</span> MatrixType&gt;</div><div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix_diagonal.html">   47</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classg2o_1_1_sparse_block_matrix_diagonal.html">SparseBlockMatrixDiagonal</a></div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  {</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix_diagonal.html#a93a57bc93d5b099fcd424ba1fc1a0585">   51</a></span>&#160;      <span class="keyword">typedef</span> MatrixType <a class="code" href="classg2o_1_1_sparse_block_matrix_diagonal.html#a93a57bc93d5b099fcd424ba1fc1a0585">SparseMatrixBlock</a>;</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;</div><div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix_diagonal.html#a625a8a22392617f6007520c28fdf9eb7">   54</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classg2o_1_1_sparse_block_matrix_diagonal.html#a625a8a22392617f6007520c28fdf9eb7">cols</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> <a class="code" href="classg2o_1_1_sparse_block_matrix_diagonal.html#a12ca3362997c3ca21c8b2a203177485e">_blockIndices</a>.size() ? <a class="code" href="classg2o_1_1_sparse_block_matrix_diagonal.html#a12ca3362997c3ca21c8b2a203177485e">_blockIndices</a>.back() : 0;}</div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix_diagonal.html#af87f005cff6800ef0ce640d23fb651f8">   56</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classg2o_1_1_sparse_block_matrix_diagonal.html#af87f005cff6800ef0ce640d23fb651f8">rows</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> <a class="code" href="classg2o_1_1_sparse_block_matrix_diagonal.html#a12ca3362997c3ca21c8b2a203177485e">_blockIndices</a>.size() ? <a class="code" href="classg2o_1_1_sparse_block_matrix_diagonal.html#a12ca3362997c3ca21c8b2a203177485e">_blockIndices</a>.back() : 0;}</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;</div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix_diagonal.html#a2eb7fc4130fac5c499b57f3bec855812">   58</a></span>&#160;      <span class="keyword">typedef</span> std::vector&lt;MatrixType, Eigen::aligned_allocator&lt;MatrixType&gt; &gt;      <a class="code" href="classg2o_1_1_sparse_block_matrix_diagonal.html#a2eb7fc4130fac5c499b57f3bec855812">DiagonalVector</a>;</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;</div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix_diagonal.html#a0e01566c4ff881af058f366672291b27">   60</a></span>&#160;      <a class="code" href="classg2o_1_1_sparse_block_matrix_diagonal.html#a0e01566c4ff881af058f366672291b27">SparseBlockMatrixDiagonal</a>(<span class="keyword">const</span> std::vector&lt;int&gt;&amp; <a class="code" href="classg2o_1_1_sparse_block_matrix_diagonal.html#aa900034ca8db34a7e2d2d51973cfceff">blockIndices</a>) :</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;        <a class="code" href="classg2o_1_1_sparse_block_matrix_diagonal.html#a12ca3362997c3ca21c8b2a203177485e">_blockIndices</a>(blockIndices)</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      {}</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix_diagonal.html#a04163c0b9be5658ef9e8be4ccc949e5f">   65</a></span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span> <a class="code" href="classg2o_1_1_sparse_block_matrix_diagonal.html#a04163c0b9be5658ef9e8be4ccc949e5f">dimOfBlock</a>(<span class="keywordtype">int</span> r)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> r ? <a class="code" href="classg2o_1_1_sparse_block_matrix_diagonal.html#a12ca3362997c3ca21c8b2a203177485e">_blockIndices</a>[r] - <a class="code" href="classg2o_1_1_sparse_block_matrix_diagonal.html#a12ca3362997c3ca21c8b2a203177485e">_blockIndices</a>[r-1] : <a class="code" href="classg2o_1_1_sparse_block_matrix_diagonal.html#a12ca3362997c3ca21c8b2a203177485e">_blockIndices</a>[0] ; }</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix_diagonal.html#a4cc17dfc19f065595dd2b09de0440df5">   68</a></span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span> <a class="code" href="classg2o_1_1_sparse_block_matrix_diagonal.html#a4cc17dfc19f065595dd2b09de0440df5">baseOfBlock</a>(<span class="keywordtype">int</span> r)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> r ? <a class="code" href="classg2o_1_1_sparse_block_matrix_diagonal.html#a12ca3362997c3ca21c8b2a203177485e">_blockIndices</a>[r-1] : 0 ; }</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div><div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix_diagonal.html#a9da10533727d4bd9312a591d2e1d9361">   71</a></span>&#160;      <span class="keyword">const</span> DiagonalVector&amp; <a class="code" href="classg2o_1_1_sparse_block_matrix_diagonal.html#a9da10533727d4bd9312a591d2e1d9361">diagonal</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classg2o_1_1_sparse_block_matrix_diagonal.html#a0679df785f9e7b79a1e9dfe623af5341">_diagonal</a>;}</div><div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix_diagonal.html#af75593896065195f7dc2342132c565cc">   72</a></span>&#160;      DiagonalVector&amp; <a class="code" href="classg2o_1_1_sparse_block_matrix_diagonal.html#af75593896065195f7dc2342132c565cc">diagonal</a>() { <span class="keywordflow">return</span> <a class="code" href="classg2o_1_1_sparse_block_matrix_diagonal.html#a0679df785f9e7b79a1e9dfe623af5341">_diagonal</a>;}</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div><div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix_diagonal.html#aa900034ca8db34a7e2d2d51973cfceff">   75</a></span>&#160;      <span class="keyword">const</span> std::vector&lt;int&gt;&amp; <a class="code" href="classg2o_1_1_sparse_block_matrix_diagonal.html#aa900034ca8db34a7e2d2d51973cfceff">blockIndices</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <a class="code" href="classg2o_1_1_sparse_block_matrix_diagonal.html#a12ca3362997c3ca21c8b2a203177485e">_blockIndices</a>;}</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;</div><div class="line"><a name="l00077"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix_diagonal.html#ae7d969c12506cdcd1b7d54128f3b6985">   77</a></span>&#160;      <span class="keywordtype">void</span> <a class="code" href="classg2o_1_1_sparse_block_matrix_diagonal.html#ae7d969c12506cdcd1b7d54128f3b6985">multiply</a>(<span class="keywordtype">double</span>*&amp; dest, <span class="keyword">const</span> <span class="keywordtype">double</span>* src)<span class="keyword"> const</span></div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;<span class="keyword">      </span>{</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;        <span class="keywordtype">int</span> destSize=<a class="code" href="classg2o_1_1_sparse_block_matrix_diagonal.html#a625a8a22392617f6007520c28fdf9eb7">cols</a>();</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        <span class="keywordflow">if</span> (! dest) {</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;          dest=<span class="keyword">new</span> <span class="keywordtype">double</span>[destSize];</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;          memset(dest,0, destSize*<span class="keyword">sizeof</span>(<span class="keywordtype">double</span>));</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        }</div><div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <span class="comment">// map the memory by Eigen</span></div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        Eigen::Map&lt;Eigen::VectorXd&gt; destVec(dest, destSize);</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        Eigen::Map&lt;const Eigen::VectorXd&gt; srcVec(src, <a class="code" href="classg2o_1_1_sparse_block_matrix_diagonal.html#af87f005cff6800ef0ce640d23fb651f8">rows</a>());</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;<span class="preprocessor">#      ifdef G2O_OPENMP</span></div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;<span class="preprocessor">#      pragma omp parallel for default (shared) schedule(dynamic, 10)</span></div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;<span class="preprocessor">#      endif</span></div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0; i &lt; static_cast&lt;int&gt;(<a class="code" href="classg2o_1_1_sparse_block_matrix_diagonal.html#a0679df785f9e7b79a1e9dfe623af5341">_diagonal</a>.size()); ++i){</div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;          <span class="keywordtype">int</span> destOffset = <a class="code" href="classg2o_1_1_sparse_block_matrix_diagonal.html#a4cc17dfc19f065595dd2b09de0440df5">baseOfBlock</a>(i);</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;          <span class="keywordtype">int</span> srcOffset = destOffset;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;          <span class="keyword">const</span> SparseMatrixBlock&amp; A = <a class="code" href="classg2o_1_1_sparse_block_matrix_diagonal.html#a0679df785f9e7b79a1e9dfe623af5341">_diagonal</a>[i];</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;          <span class="comment">// destVec += *A.transpose() * srcVec (according to the sub-vector parts)</span></div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;          <a class="code" href="namespaceg2o_1_1internal.html#a3beb413c2d04c629c60a8ce5e05ddf8f">internal::axpy</a>(A, srcVec, srcOffset, destVec, destOffset);</div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        }</div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      }</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <span class="keyword">protected</span>:</div><div class="line"><a name="l00102"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix_diagonal.html#a12ca3362997c3ca21c8b2a203177485e">  102</a></span>&#160;      <span class="keyword">const</span> std::vector&lt;int&gt;&amp; <a class="code" href="classg2o_1_1_sparse_block_matrix_diagonal.html#a12ca3362997c3ca21c8b2a203177485e">_blockIndices</a>; </div><div class="line"><a name="l00103"></a><span class="lineno"><a class="line" href="classg2o_1_1_sparse_block_matrix_diagonal.html#a0679df785f9e7b79a1e9dfe623af5341">  103</a></span>&#160;      DiagonalVector <a class="code" href="classg2o_1_1_sparse_block_matrix_diagonal.html#a0679df785f9e7b79a1e9dfe623af5341">_diagonal</a>;</div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  };</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;} <span class="comment">//end namespace</span></div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="classg2o_1_1_sparse_block_matrix_diagonal_html_aa900034ca8db34a7e2d2d51973cfceff"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix_diagonal.html#aa900034ca8db34a7e2d2d51973cfceff">g2o::SparseBlockMatrixDiagonal::blockIndices</a></div><div class="ttdeci">const std::vector&lt; int &gt; &amp; blockIndices() const</div><div class="ttdoc">indices of the row blocks </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix_diagonal.h:75</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_diagonal_html_a9da10533727d4bd9312a591d2e1d9361"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix_diagonal.html#a9da10533727d4bd9312a591d2e1d9361">g2o::SparseBlockMatrixDiagonal::diagonal</a></div><div class="ttdeci">const DiagonalVector &amp; diagonal() const</div><div class="ttdoc">the block matrices per block-column </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix_diagonal.h:71</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_diagonal_html_a0679df785f9e7b79a1e9dfe623af5341"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix_diagonal.html#a0679df785f9e7b79a1e9dfe623af5341">g2o::SparseBlockMatrixDiagonal::_diagonal</a></div><div class="ttdeci">DiagonalVector _diagonal</div><div class="ttdef"><b>Definition:</b> sparse_block_matrix_diagonal.h:103</div></div>
<div class="ttc" id="namespaceg2o_1_1internal_html_a3beb413c2d04c629c60a8ce5e05ddf8f"><div class="ttname"><a href="namespaceg2o_1_1internal.html#a3beb413c2d04c629c60a8ce5e05ddf8f">g2o::internal::axpy</a></div><div class="ttdeci">void axpy(const MatrixType &amp;A, const Eigen::Map&lt; const Eigen::VectorXd &gt; &amp;x, int xoff, Eigen::Map&lt; Eigen::VectorXd &gt; &amp;y, int yoff)</div><div class="ttdef"><b>Definition:</b> matrix_operations.h:36</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_diagonal_html_af75593896065195f7dc2342132c565cc"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix_diagonal.html#af75593896065195f7dc2342132c565cc">g2o::SparseBlockMatrixDiagonal::diagonal</a></div><div class="ttdeci">DiagonalVector &amp; diagonal()</div><div class="ttdef"><b>Definition:</b> sparse_block_matrix_diagonal.h:72</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_diagonal_html"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix_diagonal.html">g2o::SparseBlockMatrixDiagonal</a></div><div class="ttdoc">Sparse matrix which uses blocks on the diagonal. </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix_diagonal.h:47</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_diagonal_html_a4cc17dfc19f065595dd2b09de0440df5"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix_diagonal.html#a4cc17dfc19f065595dd2b09de0440df5">g2o::SparseBlockMatrixDiagonal::baseOfBlock</a></div><div class="ttdeci">int baseOfBlock(int r) const</div><div class="ttdoc">where does the row /col at block-row / block-column r starts? </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix_diagonal.h:68</div></div>
<div class="ttc" id="namespaceg2o_html"><div class="ttname"><a href="namespaceg2o.html">g2o</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:37</div></div>
<div class="ttc" id="matrix__operations_8h_html"><div class="ttname"><a href="matrix__operations_8h.html">matrix_operations.h</a></div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_diagonal_html_a2eb7fc4130fac5c499b57f3bec855812"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix_diagonal.html#a2eb7fc4130fac5c499b57f3bec855812">g2o::SparseBlockMatrixDiagonal::DiagonalVector</a></div><div class="ttdeci">std::vector&lt; MatrixType, Eigen::aligned_allocator&lt; MatrixType &gt; &gt; DiagonalVector</div><div class="ttdef"><b>Definition:</b> sparse_block_matrix_diagonal.h:58</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_diagonal_html_a0e01566c4ff881af058f366672291b27"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix_diagonal.html#a0e01566c4ff881af058f366672291b27">g2o::SparseBlockMatrixDiagonal::SparseBlockMatrixDiagonal</a></div><div class="ttdeci">SparseBlockMatrixDiagonal(const std::vector&lt; int &gt; &amp;blockIndices)</div><div class="ttdef"><b>Definition:</b> sparse_block_matrix_diagonal.h:60</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_diagonal_html_a12ca3362997c3ca21c8b2a203177485e"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix_diagonal.html#a12ca3362997c3ca21c8b2a203177485e">g2o::SparseBlockMatrixDiagonal::_blockIndices</a></div><div class="ttdeci">const std::vector&lt; int &gt; &amp; _blockIndices</div><div class="ttdoc">vector of the indices of the blocks along the diagonal </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix_diagonal.h:102</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_diagonal_html_af87f005cff6800ef0ce640d23fb651f8"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix_diagonal.html#af87f005cff6800ef0ce640d23fb651f8">g2o::SparseBlockMatrixDiagonal::rows</a></div><div class="ttdeci">int rows() const</div><div class="ttdoc">rows of the matrix </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix_diagonal.h:56</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_diagonal_html_a625a8a22392617f6007520c28fdf9eb7"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix_diagonal.html#a625a8a22392617f6007520c28fdf9eb7">g2o::SparseBlockMatrixDiagonal::cols</a></div><div class="ttdeci">int cols() const</div><div class="ttdoc">columns of the matrix </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix_diagonal.h:54</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_diagonal_html_a04163c0b9be5658ef9e8be4ccc949e5f"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix_diagonal.html#a04163c0b9be5658ef9e8be4ccc949e5f">g2o::SparseBlockMatrixDiagonal::dimOfBlock</a></div><div class="ttdeci">int dimOfBlock(int r) const</div><div class="ttdoc">how many rows/cols does the block at block-row / block-column r has? </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix_diagonal.h:65</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_diagonal_html_a93a57bc93d5b099fcd424ba1fc1a0585"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix_diagonal.html#a93a57bc93d5b099fcd424ba1fc1a0585">g2o::SparseBlockMatrixDiagonal::SparseMatrixBlock</a></div><div class="ttdeci">MatrixType SparseMatrixBlock</div><div class="ttdoc">this is the type of the elementary block, it is an Eigen::Matrix. </div><div class="ttdef"><b>Definition:</b> sparse_block_matrix_diagonal.h:51</div></div>
<div class="ttc" id="classg2o_1_1_sparse_block_matrix_diagonal_html_ae7d969c12506cdcd1b7d54128f3b6985"><div class="ttname"><a href="classg2o_1_1_sparse_block_matrix_diagonal.html#ae7d969c12506cdcd1b7d54128f3b6985">g2o::SparseBlockMatrixDiagonal::multiply</a></div><div class="ttdeci">void multiply(double *&amp;dest, const double *src) const</div><div class="ttdef"><b>Definition:</b> sparse_block_matrix_diagonal.h:77</div></div>
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